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temperature_calibration: properly initialize gyro subscriptions & bounds checking

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This commit is contained in:
Beat Küng 2017-01-25 18:28:25 +01:00 committed by Lorenz Meier
parent e74e883c56
commit 54e9bda412
1 changed files with 5 additions and 6 deletions
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11
src/modules/events/temperature_calibration.cpp
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@ -152,6 +152,10 @@ void Tempcal::task_main()
unsigned num_gyro = orb_group_count(ORB_ID(sensor_gyro));
unsigned num_samples[SENSOR_COUNT_MAX] = {0};
if (num_gyro > SENSOR_COUNT_MAX) {
num_gyro = SENSOR_COUNT_MAX;
}
bool _cold_soaked[SENSOR_COUNT_MAX] = {false};
bool _hot_soaked[SENSOR_COUNT_MAX] = {false};
bool _tempcal_complete[SENSOR_COUNT_MAX] = {false};
@ -160,12 +164,7 @@ void Tempcal::task_main()
float _ref_temp[SENSOR_COUNT_MAX];
for (unsigned i = 0; i < num_gyro; i++) {
if (gyro_sub[i] < 0) {
gyro_sub[i] = orb_subscribe_multi(ORB_ID(sensor_gyro), i);
}
}
for (unsigned i = 0; i < num_gyro; i++) {
gyro_sub[i] = orb_subscribe_multi(ORB_ID(sensor_gyro), i);
fds[i].fd = gyro_sub[i];
fds[i].events = POLLIN;
}